Method of simulating autonomous vehicle in virtual environment

ABSTRACT

Provided herein is a moving object simulation method including: a simulation preprocessing step in which a first server generates environment information for the simulation target, including at least one of road data, nearby vehicle data, nearby pedestrian data, nearby obstacle data, nearby traffic light data, nearby sign data, and event data, for a predetermined period of time; and a simulation step in which a second server calculates sensor unit output data of a simulation target vehicle according to movement of the simulation target vehicle for the predetermined period of time using the environment information, preventing computational overload due to limitations of server resources and promoting quality improvement for algorithm verification.

TECHNICAL FIELD

The present invention relates to a method of simulating an autonomousvehicle in a virtual environment, and more particularly, to a simulationmethod for maintaining a resource to be optimized through efficient dataprocessing on a simulator of an autonomous vehicle, which is a virtualenvironment for verifying a control algorithm of the autonomous vehicle.

BACKGROUND ART

An autonomous vehicle is a vehicle which performs driving without adriver who directly drives the vehicle. In general, such an autonomousvehicle generally follows a driving route based on 2D/3D map informationand is configured to measure surrounding objects in real time duringdriving and change the driving route if a variable occurs.

Also, the autonomous vehicle is autonomously driven according to datarecognized from surrounding geographical features and a driving controlalgorithm processing the data. In the case of perception, the autonomousvehicle is configured to recognize a driving environment such asvehicles, pedestrians, obstacles, and the like existing on a road usinga sensor such as a radar, a lidar, a global positioning system (GPS), acamera, and the like mounted on the vehicle. The driving controlalgorithm may calculate/infer a driving situation based on output datacalculated in the perception stage and generate a control signal forcomponents of the vehicle based on the calculated/inferred value.

Here, as disclosed in Korean Patent Laid-Open Publication No.10-2018-0086632 (“Device and Method for Determining Behavior ofAutonomous Vehicle”, published on Aug. 1, 2018) or Korean PatentLaid-Open Publication No. 10-2018-0104947 (“Autonomous Vehicle ControlSystem and Method”, published on Sep. 27, 2018), autonomous vehicleshave been developed to recognize and control a larger amount ofinformation minutely. To this end, in the related art, development hasbeen made such that the driving control algorithm advances to derive anaccurate decision given many variables.

Also, the developed driving control algorithm undergoes a verificationprocess before being applied to actual autonomous vehicles, as disclosedin Korean Patent Laid-Open Publication No. 10-1984762 (“AutonomousVehicle Simulator Using Network Platform”, published on Jun. 3, 2019) orKorean Patent Registration No. 10-1996230 (“Method and Device forProviding Test Information for Simulation of Autonomous Vehicle”,published on Jul. 4, 2019).

Here, the simulator is configured such that virtual sensors simulatingactual sensors obtain data in a virtual environment formed based on aphysical engine calculated in real time and process the obtained dataaccording to a driving control algorithm of each autonomous vehicle. Thephysical engine and the virtual sensors of the simulator and the drivingcontrol algorithm need to input/output and calculate a large amount ofdata. However, in a case in which the amount of data is beyondperformance of a processor and out of a processible level of an overallsystem, resources are not distributed to a part thereof, causing a delayor interruption (or disconnection) in the entire virtual environment.

DISCLOSURE Technical Problem

An object of the present invention is to provide a method of simulatingan autonomous vehicle in a virtual environment, capable of establishinga data set by separately managing a situation in which a more minutedriving control algorithm needs to be verified or accurate data isrequired for a virtual sensor and capable of variously verifying theestablished data set, thereby generating more accurate sensor partoutput data, while improving interruption of a simulator.

Technical Solution

According to an exemplary embodiment of the present invention, a movingobject simulation method includes: (a) a simulation preprocessing stepin which a first server generates environment information for simulationtarget, including at least one of road data, nearby vehicle data, nearbypedestrian data, nearby obstacle data, nearby traffic light data, nearbysign data, and event data for a predetermined period of time; and (b) asimulation step in which a second server calculates sensor unit outputdata of a simulation target vehicle according to movement of thesimulation target vehicle for the predetermined period of time using theenvironment information.

The step (b) may be performed after the step (a), the step (a) mayfurther include: a step for storing the environment information, and inthe step (b), by using the environment information stored in the step(a), the second server may reduce computational load for simulation.

The first server and the second server may be configured as the sameserver.

The step (a) and the step (b) may be simultaneously performed, and theenvironment information used in the step (b) may be received by thesecond server in real time from the first server, thereby reducing thecomputational processing load of the second server for simulation.

The first server and the second server may be configured as separateservers.

The environment information may include simulation time data so that thesimulation time of the step (a) and the simulation time of the step (b)may be synchronized.

The simulation target vehicle may be configured as an autonomousvehicle.

The sensor unit may include at least one of lidar, radar, GPS, andcamera sensors.

The moving object simulation method may further include: receivingsimulation configuration information including at least one ofsimulation target vehicle information, sensor unit information of asimulation target vehicle, and vehicle driving control algorithminformation from a user either before or after the step (a).

The simulation target vehicle information may include at least one of atype, shape, size, wheelbase, height, and center of mass of a vehicle.

The sensor unit information of the simulation target vehicle may includeat least one of the number, type, specification, and installationposition within the vehicle, of a sensor included in the sensor unit.

The vehicle driving control algorithm information may be an algorithmfor calculating a driving command of the vehicle based on the sensorunit output data of the simulation target vehicle.

The driving command of the vehicle may include at least one ofacceleration, deceleration, full stop, driving direction and turnindicator, and lighting of the vehicle.

In the step (b), the movement of the simulation target vehicle may becontrolled based on the calculated output data of the sensor unit of thesimulation target vehicle.

According to another exemplary embodiment of the present invention, amoving object simulation system includes: a first server and a secondserver performing the moving object simulation method described above.

According to another exemplary embodiment of the present invention, astorage medium stores a command for performing the moving objectsimulation method described above.

Advantageous Effects

In the autonomous vehicle simulation method in a virtual environmentaccording to the configuration of the present invention as describedabove, since the first server and the second server share thecomputational load with each other, an interruption of the simulatorthat occurs as a plurality of computational data are processed may beeffectively solved.

In addition, in the present invention, environment information isgenerated by differentiating, as a data set, information for apredetermined period of time that requires more precise sensor unitoutput data in the entire operation information, thereby suppressingoccurrence of an error of output data due to interruption or delay in asimulator.

In addition, in the present invention, the simulator is continuouslyoperated in the first server and the second server, receives informationfor a predetermined period of time and reproduces only a sectionrequired to be verified, thereby providing an environment in which aplurality of visitors may access the first server to receive requiredenvironment information and verify their own algorithms.

DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic diagram of a system for performing an autonomousvehicle simulation method according to the present invention.

FIG. 2 is a system configuration diagram according to an exemplaryembodiment of the autonomous vehicle simulation method.

FIGS. 3 and 4 are control flowcharts according to an exemplaryembodiment of an autonomous vehicle simulation method.

FIG. 5 is a system configuration diagram according to another exemplaryembodiment of an autonomous vehicle simulation method.

FIGS. 6 and 7 are control flowcharts according to another exemplaryembodiment of an autonomous vehicle simulation method.

BEST MODE

Hereinafter, an autonomous vehicle simulator system according to anexemplary embodiment of the present invention will be described indetail with reference to the accompanying drawings. The drawings areprovided as examples in order to convey the spirit of the presentinvention to those skilled in the art. Therefore, the present inventionis not limited to the drawings presented hereinafter and may be embodiedin other forms. Throughout the specification, the same reference numberswill be used to refer to the same or like components.

If there are no other definitions for technical terms and scientificterms used here, the technical terms and scientific terms have themeanings commonly understood by those skilled in the art to which thepresent invention pertains, and in the following description andaccompanying drawings, descriptions of known functions and componentsthat may unnecessarily obscure the subject matter will be omitted.

FIG. 1 relates to a system for performing an autonomous vehiclesimulation method according to the present invention and FIG. 1 shows aschematic diagram of the system. Referring to FIG. 1, an autonomousvehicle simulation system of the present invention may include a firstserver 100 and a second server 200 capable of performing datacommunication with external devices and including a physicalengine-based simulator to verify an algorithm for an autonomous vehicle.Here, for data communication, the first server 100 and the second server200 may be connected to peripheral devices with wires to perform datatransmission/reception with other servers or devices or may perform datatransmission/reception with remote servers or devices through wirelesscommunication.

In addition, the first server 100 and the second server 200 may performdata communication with each other, and each of the first server 100 andthe second server 200 may include an internal storage device to storeinformation for operating a simulator and may be connected to a separateexternal storage device 10 to perform data input and output.

The first server 100 and the second server 200 may verify a controlalgorithm of the autonomous vehicle. In addition, data such asgeographical features, road types, pedestrians, autonomous vehicles, andweather may be implemented in a virtual environment, and eventinformation data such as a rockslide or a traffic accident may also beprovided. In addition, a plurality of vehicle data may be implemented inthe virtual environment where some vehicles may be provided so that adriving route is changed according to a surrounding environment based onan input driving algorithm, while other vehicles may be configured toverify a driving algorithm according to a determined driving route. Inaddition, the first server 100 and the second server 200 may furtherinclude an output device connected to the simulator, and the datadescribed above may be visualized in the output device and provided to auser as an image for verification.

The second server 200 may acquire sensor unit output data for asurrounding environment or vehicle arrangements based on a targetautonomous vehicle selected in the virtual environment based on a sensorunit simulated in the virtual environment. Here, the sensor unit mayinclude at least one of lidar, radar, GPS, and camera sensors of theautonomous vehicle simulated in the virtual environment. In addition,the sensor unit simulated in the virtual environment may generatemeasurement data through a processor operation regarding othervisualized data associated with the selected autonomous vehicle. Thiswill be described in more detail through various exemplary embodimentsof the present invention to be described later.

Embodiment 1

FIGS. 2 to 4 relate to an exemplary embodiment of an autonomous vehiclesimulation method according to the present invention, in which FIG. 2 isa system configuration diagram and FIGS. 3 and 4 are control flowchartsof the autonomous vehicle simulation method.

First, referring to FIG. 2, the first server and the second server ofthe present invention may be configured as the same server, and in thisexemplary embodiment, the same first server and second server arecollectively referred to as a server. Here, the server may include astorage device, a simulator including a processorcontrolling/calculating data received from the storage device, and aninput/output device receiving data from the outside or outputting datato the outside.

In the server, the storage device provides environment information, aphysics engine, information on a virtual sensor simulating an actualsensor (hereinafter, referred to as a “sensor unit”), and a drivingcontrol algorithm (hereinafter, referred to as a “driving algorithm”) tothe processor, control/calculation is performed based on the informationprovided from the processor, and an output value may be visualized anddisplayed on the output device or may be stored in the storage device.Here, the various types of information provided from the storage devicemay be separately stored in a plurality of disks, rather than in onedisk, or a part thereof may be provided from the outside.

The environment information stored in the storage device may be dividedinto first environment information and second environment information,and the second environment information may be a data set including someof the entire data of the first environment information. Here, the firstenvironment information and the second environment information for thesimulation target, may include at least one of road data, nearby vehicledata, nearby pedestrian data, nearby obstacle data, nearby traffic lightdata, nearby sign data, and event data. In addition, the secondenvironment information for the simulation target, may include at leastone of road data, nearby vehicle data, nearby pedestrian data, nearbyobstacle data, nearby traffic light data, nearby sign data, and eventdata divided according to an input reference from the first environmentinformation. Here, the input reference may be a predetermined timereference. Here, the predetermined time reference may be an operationtime of the simulator when the simulator is operated by the firstenvironment information and calculated information is output, and aregion between predetermined times (T1 to T2) based on a real-time clock(RTC) may be determined as the predetermined time reference. Inaddition, the simulation target may be a vehicle for driving algorithmverification, and the surroundings of said target may be thegeographical features that are located within a certain range of avirtual field centered on the vehicle.

Next, a method of simulating an autonomous vehicle according to a casewhere environment data is stored on an internal storage device of aserver will be described in sequence as follows with reference to FIG.3. First, the simulator of the server may transmit simulationinformation according to first environment information to the outputdevice to visualize the simulation information through an image. Also,when an environment information logging request from a user terminal isreceived by a communication device of the server, a second environmentinformation generation request message may be transmitted to the storagedevice of the server. Here, the second environment information may beconfigured as a data set divided from the first environment information,and the server of the present invention may control it through aprocessor or manage data through a separate DBMS. Here, the environmentinformation logging request may be information on data related to animage between the predetermined times T1 to T2 based on a simulationimage output in real time.

When the second environment information is generated in the storagedevice of the server, the simulator operated with the first environmentinformation is stopped and the simulator may be operated based on thesecond environment information. In addition, the server may providesensor unit data stored in the storage device to the simulator, and thesimulator may calculate sensor data, which is sensor unit output data,through the second environment information and the sensor unit data. Thesensor data may be stored in the storage device and then utilized. Here,parameter configuration information for the sensor unit may be inputfrom the user terminal either before or after the step described above,and the sensor unit parameter configuration information may be a controlsignal regarding which sensor of the entire sensor unit is to bereflected in the simulator. For example, if a total amount of the storedsensor unit is 6, the sensor unit may be controlled in various mannerssuch that only four sensor unit may be set to be reflected in thesimulator or all sensor unit may be set to be reflected in thesimulator. Further, according to the present invention, the sensor unitinformation may be input together with the second environmentinformation from the storage device to the simulator. Here, the sensorunit information may include at least one of the number, type,specification, and installation position within the vehicle, and eachsensor may have sensor unit data that includes an algorithm to convertthe data into a unique output value.

In the present invention, verification may be performed by applying adriving algorithm transmitted from the user terminal or a drivingalgorithm stored in the storage device to the simulator in which thesensor data is calculated. Here, the simulation information into whichthe algorithm is input may be displayed in real time through the outputdevice.

Referring to FIG. 4, a method of simulating an autonomous vehicleaccording to a case in which second environment information is stored inan external storage device will be described as follows. A moving objectsimulation method of the present invention may include a preprocessingstep and a simulation step. In the preprocessing step, secondenvironment information for the simulation target, including at leastone of road data, nearby vehicle data, nearby pedestrian data, nearbyobstacle data, nearby traffic light data, nearby sign data, and eventdata for a predetermined period of time may be divided from and thengenerated, from the first environment information of the storage device,which can be based either on a signal input through the input device ofthe server or a signal transmitted from the user terminal. The secondenvironment information may be transmitted to an external storage devicethrough the communication device or the output device and may be storedin the external storage device.

When the second environment information making a data set is stored inthe external storage device, the server may receive the environment datafrom the external storage device through the input device or thecommunication device. Accordingly, the divided second environmentinformation may be provided to a plurality of servers through theexternal storage device.

If the simulation is performed on the server in real time, environmentdata may be sorted into data sets in advance if either the real-timevideo output shows the autonomous vehicle not being operated asintended, or it is a situation where a more granular verification of thealgorithm is required. Accordingly, situations in which granularverification should be performed is repeated on the server but severaldriving algorithms may be input and verified. In addition, in thepresent invention, more granular data sets, such as third environmentinformation, n-th environment information, and so on, which include thesecond environment information divided from the first environmentinformation, may be generated.

Embodiment 2

FIGS. 5 to 7 relate to another exemplary embodiment of an autonomousvehicle simulation method according to the present invention, in whichFIG. 5 is a system configuration diagram and FIGS. 6 and 7 are controlflowcharts of an autonomous vehicle simulation method.

First, referring to FIG. 6, the present invention may include a firstserver including a storage device that includes first environmentinformation, a simulator, an input/output device, and a communicationdevice. The present invention may also include a second server includinga storage device that includes second environment information, asimulator, an input/output device, and a communication device. Here, thesecond environment information of the second server may be part of thefirst environment information divided by time from the first environmentinformation of the first server. In addition, the storage devices of thefirst server and the second server may further include a physics enginefor operating the physics-based simulator, and the second server mayfurther include a sensor unit, the virtual sensor replicating an actualsensor, and a driving algorithm that calculates a driving command of thevehicle based on the sensor data.

The first server may convert simulation information according to thefirst environment information into image data in real time and displaythe image data through the output device or the communication device. Inaddition, in the second server, the simulator may be operated based onthe second environment information where only situations where portionsof the overall data is of high importance. In addition, the secondserver may convert simulation information according to the secondenvironment information into image data and display the image datathrough the output device or the communication device of thecorresponding server.

The first environment information and the second environment informationmay include vehicle arrangement, geographical features, event data,pedestrian data, road data, and the like. In addition, the secondenvironment information may include for the selected simulation targetat least one of reference road data, nearby vehicle data, nearbypedestrian data, nearby obstacle data, nearby traffic light data, nearbysign data, and event data. The output of the second environmentinformation may be configured as a data set by separately dividing caseswhere a more minute verification is required such as a case where thereis a problem in the driving algorithm of the vehicle which is driving, acase where a pedestrian walks on the road, or an event in which a suddenrockslide occurs, with the user verifying the image output from thefirst server in real time. In this example, the basis for packaging thedata set, may be a displayed time, such as simulator operation time ofthe first server or RTC.

Next, control between each component will be described in more detailwith reference to FIG. 6 as follows. Here, the first server may providethe first environment information stored in the storage device to thefirst simulator, which is a processor, and the first simulator maytransmit simulation information calculated in real time to the outputdevice. Here, the simulation information transmitted from the firstsimulator may be information which has been converted into image dataand may be transmitted to other servers including the second serverthrough the communication device.

Thereafter, the first server may receive an environment informationlogging request, which is a generation request message for secondenvironment information for the simulation target that includes at leastone of road data, nearby vehicle data, nearby pedestrian data, nearbyobstacle data, nearby traffic light data, nearby sign data and eventdata for a predetermined period of time from the input device, anotherserver including the second server, or the user terminal. Here, thefirst server may separately manage static data that may not be changedduring the simulation such as geographical features, road data, and thelike and dynamic data that may be changed during the simulation such asvehicle placement, pedestrians, and the like. Here, based on theautonomous vehicle being verified by the user in the simulation image ofthe first server, the second environment information may include staticdata within a specific range of the selected autonomous vehicle anddynamic data for a set amount of time. In this manner, the secondenvironment information divided from the first environment informationmay be transmitted to the communication device of the second serverthrough the communication device of the first server. In addition, thesecond environment information received from the communication device ofthe second server may be stored in the storage device or may be providedto the second simulator. Through this process, the simulationpreprocessing step may be performed either by storing the divided secondenvironment information in the first server or by transmitting andstoring the second environment information to and in the second server.

Also, sensor unit information including sensor unit data stored in astorage device of the second server and the second environmentinformation may be input to the second simulator. In addition, thesecond simulator may simulate based on the above-described information,convert the information into an image, and output the image. Here, inthe present invention, sensor unit parameter configuration informationmay be received from the user terminal or the sensor unit parameterconfiguration information may be a message requesting selection fromamong a plurality of sensor unit, a sensor unit that will be applied tothe second simulator. Also, through the above-described process, asimulation step may be performed in which a simulation, using secondenvironment information and sensor unit data, performs simulated drivingwith the simulation target vehicle. In addition, the sensor unitinformation may include sensor unit data, which is virtual sensor datathat simulates an actual sensor, and may further include at least one ofthe number, type, specification, and installation position within thevehicle of the sensors included in the sensor unit.

The second simulator of the second server may simulate the receivedsecond environment information and the sensor unit data together, andsensor data, which is the output data of the simulated sensor unit ofthe simulation target vehicle, may be stored in the storage device ofthe second server. Also, in the present invention, verification on aninput driving algorithm may be performed by inputting to the secondsimulator, a driving algorithm either provided from the user terminal orpreviously stored in the second server, and then by inputting theabove-described sensor data to the driving algorithm. Accordingly, auser may repeatedly verify their algorithm with only a scenario within arelatively reduced set time, instead of testing vast amounts of data andmay perform more efficient verification by inputting a variety ofdriving algorithms. In addition, a plurality of users may access thefirst server and be provided with only the environment information theyneed to verify their algorithms.

Next, referring to FIG. 7, in the present invention, a plurality ofsensor unit may be provided, and data of each of the plurality of sensorunit may be sequentially calculated in the second simulator. In detail,in the second server, the second simulator may be operated multipletimes by varying the number and type of sensor unit based on the samesecond environment information from the user terminal. Also, firstsensor data, second sensor data, and the like, which are the results ofeach simulation, may be stored in the storage device and may besynchronized with each other. In addition, the second server may inputthe synchronized sensor data and the second environment information tothe second simulator after which the driving algorithm, which is eitherinput from the user terminal or previously stored, may be applied to thesimulator to verify the algorithm.

Also, in all of the exemplary embodiments described above, the presentinvention may include a step for receiving simulation configurationinformation. Here, the step for receiving the simulation configurationinformation may be performed before or after the preprocessing step, maybe received from the user terminal, and may include at least one ofinformation on a simulation target vehicle, information on a sensor unitof the simulation target vehicle, and information on a vehicle drivingalgorithm. The simulation target vehicle information may include atleast one of a type, shape, size, wheelbase, height, and center of massof the vehicle, and the sensor unit information of the simulation targetvehicle may include at least one of the number, type, specification, andinstallation position within the vehicle of a sensor included in thesensor unit. In addition, the vehicle driving control algorithminformation may be composed of algorithms that calculate drivingcommands for the vehicle based on output data of the sensor unit of thesimulation target vehicle. Here, the driving command of the vehicle mayinclude at least one of acceleration, deceleration, full stop, drivingdirection, turn indicator, and lighting of the vehicle. Here, the sensorunit information of the simulation target vehicle may be received beforethe server calculates the sensor unit output data using the secondenvironment information and the sensor unit data, and the vehicledriving control algorithm information may be received beforeverification in the second simulator. As simulation variables may varyover repeated steps, this process is not intended to be limiting.

Although the exemplary embodiments of the present invention have beenillustrated and described hereinabove, the present invention is notlimited to the above-mentioned specific exemplary embodiments, but maybe variously modified by those skilled in the art to which the presentinvention pertains without departing from the scope and spirit of thepresent invention as disclosed in the accompanying claims. Thesemodifications should also be understood to fall within the scope of thepresent invention.

The invention claimed is:
 1. A moving object simulation method comprising: (a) a simulation preprocessing step in which a first server generates simulated environment information for simulation target, including at least one of road data, nearby vehicle data, nearby pedestrian data, nearby obstacle data, nearby traffic light data, nearby sign data, and event data for a predetermined period of time; and (b) a simulation step in which a second server receives a predetermined vehicle driving control algorithm from a user terminal, calculates sensor unit output data of a simulation target vehicle, according to movement of the simulation target vehicle, for the predetermined period of time using the simulated environment information, obtains a driving command for the simulation target vehicle using the sensor unit output data and the predetermined vehicle driving control algorithm, and verifies the predetermined vehicle driving control algorithm by controlling the simulation target vehicle based on the driving command.
 2. The moving object simulation method of claim 1, wherein the step (b) is performed after the step (a), the step (a) further includes: a step for storing the simulated environment information, and in the step (b), by using the simulated environment information stored in the step (a), the second server reduces computational processing load for simulation.
 3. The moving object simulation method of claim 2, wherein the first server and the second server are the same server.
 4. The moving object simulation method of claim 1, wherein the step (a) and the step (b) are simultaneously performed, and the simulated environment information used in the step (b) is received by the second server in real time from the first server, thereby reducing computational processing load of the second server for simulation.
 5. The moving object simulation method of claim 4, wherein the first server and the second server are separate servers.
 6. The moving object simulation method of claim 1, wherein the simulated environment information includes simulation time data such that the simulation time of the step (a) and the step (b) are synchronized.
 7. The moving object simulation method of claim 1, wherein the simulation target vehicle is an autonomous vehicle.
 8. The moving object simulation method of claim 1, wherein the sensor unit includes at least one of lidar, radar, GPS, and camera sensors.
 9. The moving object simulation method of claim 1, further comprising: receiving simulation configuration information including at least one of simulation target vehicle information, and sensor unit information of a simulation target vehicle from the user terminal either before or after the step (a).
 10. The moving object simulation method of claim 9, wherein the simulation target vehicle information includes at least one of a type, shape, size, wheelbase, height, and center of mass of a vehicle.
 11. The moving object simulation method of claim 9, wherein the sensor unit information of the simulation target vehicle includes at least one of the number, type, specification, and installation position within the vehicle of a sensor included in the sensor unit.
 12. The moving object simulation method of claim 1, wherein the driving command of the vehicle includes at least one of acceleration, deceleration, full stop, driving direction, turn indicator, and lighting of the vehicle.
 13. The moving object simulation method of claim 1, wherein, in the step (b), driving the simulation target vehicle is controlled based on the calculated output data of the sensor unit of the simulation target vehicle.
 14. A moving object simulation system comprising: a first server and a second server performing the moving object simulation method according to claim
 1. 15. A non-transitory storage medium recording commands for performing the moving object simulation method according to claim
 1. 16. The moving object simulation method of claim 1, further comprising: outputting verification of the predetermined vehicle driving control algorithm.
 17. The moving object simulation method of claim 1, wherein the simulated environment information is a subset of entire environment information stored in a storage device.
 18. The moving object simulation method of claim 1, wherein the first server generates the simulated environment information based in a predetermined time reference in response to receiving a logging request from the user terminal. 